Research on Optimization of Point Cloud Registration ICP Algorithm

Jian Liu, Xiuqin Shang, Shuzhan Yang, Zhen Shen, Xiwei Liu, Gang Xiong*, Timo R. Nyberg

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

1 Citation (Scopus)

Abstract

Point cloud data, as a basis for the three-dimensional data types has attracted more and more attention these years. compared with other types of three-dimensional data, point cloud data can be collected by simple ways, and it contains surface texture, surface color, and other types of features on the surface of the target object. Recently, in the field of cloud data processing, many new point cloud processing methods have been proposed on the basis of existed theory, among which, the most notable one is the newly proposed algorithm in the field of point cloud registration. In this paper, an improved point cloud registration algorithm based on classical ICP algorithm is proposed. In the classical ICP algorithm, the main part which limit the efficiency of the algorithm is the iterative search process of the corresponding point, the new algorithm proposed in this paper uses the 4-point coincidence algorithm to accelerate the corresponding point search process as an improvement to the classical ICP algorithm, and to verify its improvement by experiment.

Original languageEnglish
Title of host publicationImage and Video Technology - PSIVT 2017 International Workshops, Revised Selected Papers
Pages81-90
Number of pages10
DOIs
Publication statusPublished - 1 Jan 2018
MoE publication typeA4 Article in a conference publication
EventPacific Rim Symposium on Image and Video Technology - Wuhan, China
Duration: 20 Nov 201724 Nov 2017
Conference number: 8

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume10799 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

ConferencePacific Rim Symposium on Image and Video Technology
Abbreviated titlePSIVT
CountryChina
CityWuhan
Period20/11/201724/11/2017

Keywords

  • 4-point consistent algorithm
  • ICP algorithm
  • Point cloud data
  • Point cloud registration

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